Embedded harmonic control for dynamic trajectory planning on FPGA

Bernard Girau 1 Amine Boumaza 2
1 CORTEX - Neuromimetic intelligence
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
2 MAIA - Autonomous intelligent machine
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
Abstract : This paper presents a parallel hardware implementation of a well-known navigation control method on reconfigurable digital circuits. Trajectories are estimated after an iterated computation of the harmonic functions, given the goal and obstacle positions of the navigation problem. The proposed massively distributed implementation locally computes the direction to choose to get to the goal position at any point of the environment. Changes in this environment may be immediately taken into account, for example when obstacles are discovered during an on-line exploration. The implementation results show that the proposed architecture simultaneously improves speed, power consumption, precision, and environment size.
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Communication dans un congrès
The IASTED International Conference on Artificial Intelligence and Apllications - AIA 2006, Feb 2007, Innsbruck, Australia. 2007
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https://hal.inria.fr/inria-00119491
Contributeur : Amine Boumaza <>
Soumis le : dimanche 10 décembre 2006 - 14:57:21
Dernière modification le : jeudi 11 janvier 2018 - 06:19:50
Document(s) archivé(s) le : mercredi 7 avril 2010 - 00:14:48

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  • HAL Id : inria-00119491, version 1

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Bernard Girau, Amine Boumaza. Embedded harmonic control for dynamic trajectory planning on FPGA. The IASTED International Conference on Artificial Intelligence and Apllications - AIA 2006, Feb 2007, Innsbruck, Australia. 2007. 〈inria-00119491〉

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